CN105960796B - Automatic tracking camera device - Google Patents

Automatic tracking camera device Download PDF

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Publication number
CN105960796B
CN105960796B CN201480074827.5A CN201480074827A CN105960796B CN 105960796 B CN105960796 B CN 105960796B CN 201480074827 A CN201480074827 A CN 201480074827A CN 105960796 B CN105960796 B CN 105960796B
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China
Prior art keywords
optical system
image
focal length
yawing
detection portion
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CN201480074827.5A
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Chinese (zh)
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CN105960796A (en
Inventor
小野修司
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Fujifilm Corp
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Fujifilm Corp
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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/58Means for changing the camera field of view without moving the camera body, e.g. nutating or panning of optics or image sensors
    • GPHYSICS
    • G03PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03BAPPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00Special procedures for taking photographs; Apparatus therefor
    • G03B15/16Special procedures for taking photographs; Apparatus therefor for photographing the track of moving objects
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50Constructional details
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50Constructional details
    • H04N23/55Optical parts specially adapted for electronic image sensors; Mounting thereof
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60Control of cameras or camera modules
    • H04N23/61Control of cameras or camera modules based on recognised objects
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60Control of cameras or camera modules
    • H04N23/61Control of cameras or camera modules based on recognised objects
    • H04N23/611Control of cameras or camera modules based on recognised objects where the recognised objects include parts of the human body
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60Control of cameras or camera modules
    • H04N23/67Focus control based on electronic image sensor signals
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60Control of cameras or camera modules
    • H04N23/69Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60Control of cameras or camera modules
    • H04N23/695Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60Control of cameras or camera modules
    • H04N23/698Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/80Camera processing pipelines; Components thereof
    • H04N23/84Camera processing pipelines; Components thereof for processing colour signals
    • H04N23/843Demosaicing, e.g. interpolating colour pixel values
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/10Circuitry of solid-state image sensors [SSIS]; Control thereof for transforming different wavelengths into image signals
    • H04N25/11Arrangement of colour filter arrays [CFA]; Filter mosaics
    • H04N25/13Arrangement of colour filter arrays [CFA]; Filter mosaics characterised by the spectral characteristics of the filter elements
    • H04N25/134Arrangement of colour filter arrays [CFA]; Filter mosaics characterised by the spectral characteristics of the filter elements based on three different wavelength filter elements
    • GPHYSICS
    • G03PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03BAPPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00Details of cameras or camera bodies; Accessories therefor
    • GPHYSICS
    • G03PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03BAPPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00Details of cameras or camera bodies; Accessories therefor
    • G03B17/56Accessories
    • G03B17/561Support related camera accessories
    • GPHYSICS
    • G03PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03BAPPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B41/00Special techniques not covered by groups G03B31/00 - G03B39/00; Apparatus therefor
    • GPHYSICS
    • G08SIGNALLING
    • G08BSIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00Burglar, theft or intruder alarms
    • G08B13/18Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19602Image analysis to detect motion of the intruder, e.g. by frame subtraction
    • G08B13/19608Tracking movement of a target, e.g. by detecting an object predefined as a target, using target direction and or velocity to predict its new position
    • GPHYSICS
    • G08SIGNALLING
    • G08BSIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00Burglar, theft or intruder alarms
    • G08B13/18Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19617Surveillance camera constructional details
    • G08B13/1963Arrangements allowing camera rotation to change view, e.g. pivoting camera, pan-tilt and zoom [PTZ]
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/10Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60Control of cameras or camera modules
    • H04N23/667Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60Control of cameras or camera modules
    • H04N23/67Focus control based on electronic image sensor signals
    • H04N23/673Focus control based on electronic image sensor signals based on contrast or high frequency components of image signals, e.g. hill climbing method

Abstract

The present invention provides a kind of automatic tracking camera device, the consistent wide angle picture of optical axis and focal length image can be obtained simultaneously by single image pickup part, and the object of tracking object can be reliably captured using focal length image.Automatic tracking camera device involved in preferred embodiment of the invention by constituting as follows: photographic optical system (12), is made of the wide-angle optics i.e. central optical system and the i.e. doughnut-like optical system of long focus optical system being configured on shared optical axis;Directive property sensor (17) carries out after pupil cutting selectively light to via wide-angle optics and the light beam of long focus optical system incidence respectively;Yawing/luffing mechanism (32);Object detection portion (50) carrys out the object of detecting and tracking object according at least to image acquiring section (22) from wide angle picture acquired by directive property sensor (17) and the wide angle picture in focal length image;And yawing/pitch control portion (60), yawing/luffing mechanism (32) are controlled according to the location information in the image of the object detected by object detection portion (50).

Description

Automatic tracking camera device
Technical field
The present invention relates to a kind of automatic tracking camera devices more particularly to one kind can shoot wide angle picture and focal length simultaneously The automatic tracking camera device of image.
Background technique
In the past, as the automatic tracking camera device that can shoot wide angle picture and focal length image simultaneously, there is patent document 1, documented automatic tracking camera device in 2.
Documented system is provided with the wide angle cameras of shooting wide angle picture and is equipped on electronic cloud in patent document 1,2 The long focus video camera of the shooting focal length image of platform (yawing/elevation mount), and have following basic structure: from utilize wide-angle imaging The object of wide angle picture detecting and tracking object captured by machine, and the location information according to the object detected in wide angle picture Rotation control is carried out to electric platform, using focal length camera to automatically track object and carries out focal length shooting.
Also, propose there is following tracing system: will be provided with optical system and imaging sensor video camera be installed on yawing/ Pitching pedestal, and yawing/pitching pedestal is controlled, so that the center in the visual field of video camera captures the object (OBT) being tracked, institute It states in optical system, the wide-angle of the annulus of the lens section and encirclement at the narrow angle of the circular central portion circular central portion Lens section arranged coaxial, described image sensor have and have the middle section of narrow angle image by the lens section imaging at narrow angle and lead to The lens section imaging for crossing wide-angle has the neighboring area (patent document 3) of wide angle picture.
Even if OBT can also capture OBT from narrow angle missing image by wide angle picture as a result, and will not track It loses (tracking dropout).
Also, wide-angle can be observed by being had by the Joseph Ford of University of California, San Diego (UCSD) proposition The contact lens (non-patent literature 1) of image and focal length image.
If the structure of the contact lens is used for video camera, there is the possibility that can obtain wide angle picture and focal length image Property.
Conventional art document
Patent document
Patent document 1: Japanese Unexamined Patent Publication 11-69342 bulletin
Patent document 2: Japanese Unexamined Patent Publication 2006-33224 bulletin
Patent document 3: Japanese Patent Public List 2003-510666 bulletin
Non-patent literature
Non-patent literature 1: " Photonic Systems Integration Laboratory ", network address < URL: Http:// psilab.ucsd.edu/research/Telescopic Contact Lens/main.html >
Brief summary of the invention
The invention technical task to be solved
Documented system will be provided with 2 independent wide angle cameras and long focus video camera conduct in patent document 1,2 Basic structure, thus system there is a problem of it is expensive and enlarged.Also, the optical axis of wide angle cameras and long focus video camera And non-common, parallax is generated in respectively captured wide angle picture and focal length image, so if not using the distance of object Information carries out parallax correction, and (in principle) can not just carry out the tracking of correct object.Moreover, because wide angle cameras is consolidated It is fixed, if therefore visual angle of the presence object beyond wide angle picture and the problem of move, object can not be tracked.
On the other hand, it about documented tracing system in patent document 3, connects smoothly through circular central portion Wide angle picture (the distortion aberration of the lens section shooting of the narrow angle image and wide-angle by annulus of the lens section shooting at narrow angle The fish eye images not being corrected) as optical system have difficulties in design, and exist be difficult to narrow angle image and wide-angle The problem of OBT of the boundary part of image is tracked.
That is, causing narrow angle image Chong Die on the image sensor (conflict) with wide angle picture.If in order to avoid such case And optical block/separating mechanism is set, then wide angle picture will become ring-type, and the central part of wide angle picture is short of and can not carry out Photography.
Also, it is connected smoothly logical using circular central portion as long focus lens using annulus as when wide-angle lens The focal length image for crossing the shooting of these lens has difficulties in design with optical system as wide angle picture, and in focal length figure As generating the region not being taken with the boundary of wide angle picture.
Documented contact lens in non-patent literature 1, although can solve the parallax of wide angle picture and focal length image Problem, but in order to which separated acquisition wide angle picture and focal length image this 2 images need to switch shutter, therefore system becomes complicated. Moreover, two images can not be obtained in synchronization, therefore presence can not obtain wide angle picture during obtaining focal length image Information, and the shortcomings that the accuracy decline of tracking.
The present invention is to complete in light of this situation, and its purpose is to provide one kind can be by single image pickup part simultaneously Obtain the consistent wide angle picture of optical axis and focal length image, and can reliably be captured with focal length image tracking object object it is small Type and cheap automatic tracking camera device.
For solving the means of technical task
To achieve the goals above, automatic tracking camera device involved in a mode of the invention has: photo-optics System is made of the 1st optical system of central portion and the 2nd optical system, and one in these optical systems is wide angle optical system System, another is long focus optical system, and the 2nd optical system is set to the peripheral portion of the 1st optical system and has and the 1st light The identical optical axis of system;Directive property sensor has the multiple pixels being made of the photo-electric conversion element that two dimension shape arranges, and Selectively light is carried out after pupil cutting to via wide-angle optics and the light beam of long focus optical system incidence respectively;It is flat / luffing mechanism is shaken, makes the image pickup part comprising photographic optical system and directive property sensor in the horizontal direction and vertical direction rotation; Image acquiring section, obtain respectively from directive property sensor via wide-angle optics and the wide angle picture of light and via focal length light The focal length image of system and light;Object detection portion, according at least to wide angle picture acquired by image acquiring section and focal length figure Wide angle picture as in carrys out the object of detecting and tracking object;And yawing/pitch control portion, according to what is detected by object detection portion Location information in the image of object controls yawing/luffing mechanism.
A mode according to the present invention, by the inclusion of the photographic optical system of above structure and the camera shooting of directive property sensor Portion's (single image pickup part) can obtain optical axis shared wide angle picture and focal length image simultaneously, detect according at least to wide angle picture The object of tracking object, and yawing/luffing mechanism is controlled according to the location information in the image of the object detected, thus, it is possible to So that object is entered in focal length image and (is automatically tracked), also, wide angle picture can be passed through object fast moves Object is captured, therefore pursuing missing will not occur.
In automatic tracking camera device involved in another way of the invention, it is preferably provided with record portion, the record portion At least record wide angle picture acquired by image acquiring section and the focal length image in focal length image.Thereby, it is possible to by by recording The focal length image that portion is recorded confirms desired object.
In automatic tracking camera device involved in another mode of the invention, preferred object test section is according at least to image The wide angle picture in wide angle picture and focal length image that acquisition unit continuously obtains is come the movement that detects moving object, and will test Object is as tracking object.The object of tracking object is mobile object, therefore can be by detection moving object to detect Desired object.
In automatic tracking camera device involved in another mode of the invention, preferred object test section is according at least to image Wide angle picture acquired by acquisition unit and the wide angle picture in focal length image identify certain objects, and the certain objects that will be identified Object as tracking object.For example, certain objects be personage when, can by identification personage or personage face, detection with The object of track object.
In automatic tracking camera device involved in another mode of the invention, preferably yawing/pitch control portion according to by The location information of the object that object detection portion detects in the picture controls yawing/luffing mechanism, and makes the object detected At least enter the visual angle of focal length image.At this point it is possible to yawing/luffing mechanism be controlled, so that the object detected reaches focal length figure The center of picture also can control yawing/luffing mechanism, so that the object detected enters the certain of the immediate vicinity of focal length image In range.
In automatic tracking camera device involved in another mode of the invention, preferred object test section has according to image 1st object detection portion of focal length image detection object and the wide angle picture according to acquired by image acquiring section acquired by acquisition unit 2nd object detection portion of detection object, the focal length figure for the object that yawing/pitch control portion is detected according to the 1st object detection portion Location information as in controls yawing/luffing mechanism, when the 1st object detection portion fails to detect object, is examined according to the 2nd object Location information of the object that survey portion detects in wide angle picture controls yawing/luffing mechanism.
Another mode according to the present invention when can be according to focal length image detection object, exists according to the object that it is detected Location information in focal length image controls yawing/luffing mechanism, therefore is able to carry out high precision automatic tracking, another party Face, when failing according to focal length image detection to object, the position based on the object detected according to wide angle picture in wide angle picture Confidence ceases to control yawing/luffing mechanism, although with yawing/luffing mechanism based on the location information progress in focal length image Compared to the accuracy decline automatically tracked pursuing missing occurs for control.
In automatic tracking camera device involved in another mode of the invention, be preferably provided with selection the 1st tracing mode or The mode selection part of 2nd tracing mode, if selecting the 1st tracing mode, yawing/pitch control portion only root by mode selection part Yawing/luffing mechanism is controlled according to location information of the object detected by the 2nd object detection portion in wide angle picture, if passing through Mode selection part selects the 2nd tracing mode, then yawing/pitch control portion exists according to the object detected by the 1st object detection portion Location information in focal length image controls yawing/luffing mechanism, when the 1st object detection portion fails to detect object, according to by Location information in the wide angle picture for the object that 2nd object detection portion detects controls yawing/luffing mechanism.
It can be used separately depending on the application as a result, and automatically track camera shooting and with what the 1st tracing mode carried out with the 2nd tracking mould What formula carried out automatically tracks camera shooting.
In automatic tracking camera device involved in another mode of the invention, preferred the 1st optics of photographic optical system System is circular central optical system, and the 2nd optical system is the ring-type being arranged relative to central optical system in concentric circles Optical system.Pass through circular central optical system and the doughnut-like optical system being arranged relative to central optical system with concentric circles Parallax, also, the shape of respectively rotational symmetry do not occur between 2 images of system shooting, therefore preferably as photo-optics system System.
In automatic tracking camera device involved in another mode of the invention, preferably doughnut-like optical system, which has, makes light beam Reflection 2 times or more reflective optics.Thereby, it is possible to shorten the size of the optical axis direction of doughnut-like optical system, can make to take the photograph Picture portion is compact.
In automatic tracking camera device involved in another mode of the invention, preferably the 1st optical system is wide angle optical System, the 2nd optical system are long focus optical system.
In automatic tracking camera device involved in another mode of the invention, preferably there is the coke to long focus optical system The focus adjustment section that point is adjusted.Long focus optical system depth of field compared with wide-angle optics is shallow and is easy fuzzy therefore excellent Choosing carries out focus adjustment.Furthermore it is also possible to focus adjustment section is set in wide-angle optics, it can not also be in wide angle optical system Focus adjustment section is set in system, but using wide-angle optics as pan focus (pan focus).
In automatic tracking camera device involved in another mode of the invention, directive property sensor, which can be set to have, to be made The microlens array or shadow mask to play a role for pupil cutting component.
Invention effect
According to the present invention, the consistent wide angle picture of optical axis and focal length image can be obtained by single image pickup part simultaneously, because This can be realized the miniaturization, cost effective of automatic tracking camera device.Also, the optical axis direction of wide angle picture and focal length image Unanimously, therefore according at least to the object of wide angle picture detecting and tracking object, and the position according to the object detected in the picture Information controls yawing/luffing mechanism, thus it enables that object enters in focal length image and (automatically tracked), also, even if Object, which fast moves, also can capture object by wide angle picture, therefore have the effect of that pursuing missing will not occur.
Detailed description of the invention
Fig. 1 is the stereoscopic figure of automatic tracking camera device according to the present invention.
Fig. 2 is the cross-sectional view for indicating the 1st embodiment of image pickup part of automatic tracking camera device.
Fig. 3 is the enlarged view of the main part of microlens array and imaging sensor shown in Fig. 2.
(a) of Fig. 4~(b), (c1)~(c2) are the figures for indicating to be disposed in colour filter arrangement of imaging sensor etc..
Fig. 5 is the block diagram for indicating the embodiment of internal structure of automatic tracking camera device.
(a) of Fig. 6~(b) is the wide angle picture for indicating to shoot by automatic tracking camera device and an example of focal length image Figure.
Fig. 7 is to indicate to indicate to carry out tracking control in such a way that certain objects (face of personage) reaches the center of focal length image The schematic diagram of the focal length image of the state of system.
(a) of Fig. 8~(c) is the moving object physical examination for illustrating to detect using moving object as the object of tracking object An example of survey method and the figure used.
Fig. 9 is an example for indicating the automatic tracking control method based on automatic tracking camera device according to the present invention Flow chart.
Figure 10 is indicate the automatic tracking control method based on automatic tracking camera device according to the present invention another The flow chart of example.
Figure 11 is the side view for indicating another embodiment of directive property sensor.
Figure 12 is the cross-sectional view for indicating to be suitable for another embodiment of the image pickup part of automatic tracking camera device.
Specific embodiment
Hereinafter, being illustrated according to embodiment of the attached drawing to automatic tracking camera device according to the present invention.
<appearance of automatic tracking camera device>
Fig. 1 is the stereoscopic figure of automatic tracking camera device according to the present invention.
As shown in Figure 1, automatic tracking camera device 10 mainly has apparatus main body 2, image pickup part 11, yawing/elevation mount 30 (Fig. 5) and the enclosed globe shade 6 for covering image pickup part 11.
Yawing/elevation mount 30 has pedestal 4 and is fixed on pedestal 4 and rotatably keeps the holding of image pickup part 11 Portion 8.
Pedestal 4 is arranged to rotate freely centered on the axis of the vertical direction Z of apparatus main body 2, and passes through yawing driving portion 34 (Fig. 5) are rotated centered on the axis of vertical direction Z.
Maintaining part 8 have be arranged in the axis of horizontal direction X it is coaxial on gear 8A, and by from pitching driving portion 36 (Fig. 5) conveys driving force via gear 8A, so that image pickup part 11 be made vertically to rotate (pitching motion).
Enclosed globe shade 6 is for dust-proof and splashproof cover, and preferably by the axis of horizontal direction X and vertical direction Z The intersection point of axis is set as the spherical shell shape of the constant wall thickness of the center of curvature so that the optical property of image pickup part 11 do not change and It is unrelated with the optical axis direction L of image pickup part 11.
Also, it is preferred that tripod mounting portion (tripod screw hole etc.) (not shown) is arranged at the back side of apparatus main body 2.
[structure of image pickup part]
Fig. 2 is the cross-sectional view for indicating the 1st embodiment of image pickup part 11 of automatic tracking camera device 10.
As shown in Fig. 2, image pickup part 11 is made of photographic optical system 12 and directive property sensor 17.
<photographic optical system>
Photographic optical system 12 is by being respectively arranged on identical optical axis, in the central portion as the 1st optical system The doughnut-like optical system 14 of the 2nd optical system of optical system 13 and the concentric circles as its peripheral portion is entreated to constitute.
Central optical system 13 is by the 1st lens 13a, the 2nd lens 13b, the 3rd lens 13c, the 4th lens 13d and to share saturating The wide-angle optics (wide-angle lens) that mirror 15 is constituted, and wide angle picture is imaged in and constitutes the micro- of directive property sensor 17 On lens array 16.
Doughnut-like optical system 14 is by the 1st lens 14a, the 2nd lens 14b, as the 1st reflecting mirror of reflective optics The long focus optical system (long focus lens) that 14c, the 2nd reflecting mirror 14d and common lens 15 are constituted, and focal length image is imaged in On microlens array 16.Via the 1st lens 14a and the light beam of the 2nd lens 14b incidence by the 1st reflecting mirror 14c and the 2nd reflecting mirror 14d penetrates common lens 15 after reflecting 2 times.Light beam is turned back using the 1st reflecting mirror 14c and the 2nd reflecting mirror 14d, is thus contracted The length of the optical axis direction of the short longer long focus optical system (long focus lens) of focal length.
<directive property sensor>
Directive property sensor 17 is made of microlens array 16 and imaging sensor 18.
Fig. 3 is the enlarged view of the main part of microlens array 16 and imaging sensor 18.
Microlens array 16 is arranged in two dimension shape by multiple lenticules (pupil imaging lens) 16a and is constituted, each lenticule Horizontal direction and vertical direction interval be equivalent to the light receiving units of 3 photo-electric conversion elements as imaging sensor 18 The interval of 18a is corresponding.That is, microlens array 16 each lenticule using relative to horizontal direction and all directions of vertical direction with Every the lenticule that the position of 2 light receiving units is corresponding to be formed.
Also, each lenticule 16a of microlens array 16 is by the central optical system 13 and ring with photographic optical system 12 Corresponding circular center pupil image (the 1st pupil image) 17a and annular pupil picture (the 2nd pupil image) 17b of shape optical system 14 at On the light receiving unit 18a of picture light area corresponding to imaging sensor 18.
Microlens array 16 and imaging sensor 18 according to Fig.3, every 1 lenticule 16a points of microlens array 16 3 × 3 light receiving unit 18a equipped with clathrate (square lattice shape).Hereinafter, by 1 lenticule 16a and with 1 16a pairs of lenticule The light receiving unit group (3 × 3 light receiving unit 18a) answered is known as units chunk.
Central pupil image 17a only images in the light receiving unit 18a in the center of units chunk, and annular pupil images in list as 17b 8 light receiving unit 18a around the block of position.
According to the image pickup part 11 of above structure, wide-angle figure corresponding with aftermentioned central optical system 13 can be shot simultaneously Picture and focal length image corresponding with doughnut-like optical system 14.
[embodiment of imaging sensor]
(a) of Fig. 4~(b), (c1)~(c2) are the figures for indicating to be disposed in colour filter arrangement of imaging sensor 18 etc..Separately Outside, microlens array 16 is omitted in (a) of Fig. 4~(b), (c1)~(c2), but is indicated with the region that circle indicates comprising logical The units chunk for having 3 × 3 light receiving units of pupil image is imaged in each lenticule 16a for crossing microlens array 16.
As shown in part (a) of Fig. 4, it is provided on the imaging surface of imaging sensor 18 by being disposed on each light receiving unit The colour filter arrangement that colour filter is constituted.
The colour filter arranges the three primary colors colour filter penetrated by the light for making each wavelength region of red (R), green (G) and blue (B) (hereinafter referred to as R colour filter, G colour filter, B colour filter) is constituted.Also, configured with appointing in RGB colour filter on each light receiving unit Meaning colour filter.Hereinafter, the light receiving unit configured with R colour filter is known as " R light receiving unit ", the light of G colour filter will be configured with Unit is known as " G light receiving unit ", and the light receiving unit configured with B colour filter is known as " B light receiving unit ".
Colour filter represented by part (a) by Fig. 4 is arranged to make up 6 × 6 light receiving units being set as basic block B (ginseng Examine part (b) of block and Fig. 4 that (a) of Fig. 4 is partially indicated with thick frame), and basic block B is in the horizontal direction and vertical direction weight Compounding is set.
As shown in part (b) of Fig. 4, basic block B is made of 4 units chunk B1~B4.
Part (c1) of Fig. 4 and (c2) partially respectively indicate the central light receiving unit of 4 units chunk B1~B4 (through Fig. 3 Shown in central optical system 13 the incident light receiving unit of light beam) 8 light receiving units of group and surrounding (through shown in Fig. 3 Doughnut-like optical system 14 the incident light receiving unit of the light velocity) group.
As shown in part (c1) of Fig. 4, the image of the group of central light receiving unit becomes the mosaic image of bayer arrangement.By This, carries out demosaicing processing by the mosaic image to bayer arrangement, can obtain color image.
On the other hand, as shown in part (c2) of Fig. 4, around each central light receiving unit of units chunk B1~B4 8 by The group of light unit includes RGB all light receiving unit (R light receiving unit, G light receiving unit, B light list in 8 light receiving units Member), and the light receiving unit of RGB is independently configured with units chunk B1~B4 with identical patterns.
Specifically, on 4 jiaos of constituent parts block B1~B4 of 4 light receiving units be configured with G light receiving unit, across center by R light receiving unit is configured on 2 light receiving units up and down of light unit, on the light receiving unit of the left and right of central light receiving unit 2 Configured with B light receiving unit.
Also, the central light receiving unit (center) of R light receiving unit, G light receiving unit and B light receiving unit relative to constituent parts block It is configured at symmetric position.As a result, using the output signal of the light receiving unit of the RGB in units chunk, can generate to each of which list Position block carries out 1 pixel (pixel value of RGB) of the composition image after demosaicing processing (synchronization process).
That is, can be obtained by the average value for the output signal (pixel value) for finding out 4 G light receiving units in units chunk The pixel value of the G pixel of the center of units chunk (1 lenticule), likewise by the 2 R light lists found out in units chunk The average value of the pixel value of the average value and 2 B light receiving units of the pixel value of member, can obtain the center of constituent parts block The pixel value of R pixel and B pixel.
Generated as a result, for the group by 8 light receiving units around units chunk with (the focal length light of doughnut-like optical system 14 System) corresponding focal length image, it can be carried out at demosaicing using the pixel value of the light receiving unit of the RGB in units chunk Reason, the pixel value without the light receiving unit to units chunk around carry out interpolation and generate the pixel of the pixel of particular wavelength region Value will not make resolution ratio (actual pixels number) decline for exporting image.
<internal structure of automatic tracking camera device>
Fig. 5 is the block diagram for indicating the embodiment of internal structure of automatic tracking camera device 10.
As shown in figure 5, automatic tracking camera device 10 has image pickup part 11, the image pickup part 11 is by with described in Fig. 2 The photographic optical system 12 and (a) with Fig. 3 and Fig. 4~(b) of bright central optical system 13 and doughnut-like optical system 14, (c1) the directive property sensor 17 of microlens array 16 and imaging sensor 18 illustrated in~(c2) is constituted.
The image pickup part 11 is preferably provided with the focus being adjusted to the focus of long focus optical system (doughnut-like optical system 14) Adjustment section 19.Focus adjustment section 19 for example can by make doughnut-like optical system 14 whole or part optical system along optical axis Mobile voice coil motor in direction etc. is constituted.Also, the judgement of the focusing of focal length image can pass through the focus detection of focal length image The contrast in region carries out, but it's not limited to that for focal point adjusting method.In addition, about wide-angle optics (central optical system 13) system, can separately be arranged focus adjustment section, also can be used as pan focus.
Make image pickup part 11 relative to apparatus main body 2 to water as shown in Figure 1, yawing/elevation mount (electric platform) 30 has Square to (yawing direction) rotate yawing mechanism and to vertical direction (pitch orientation) rotate luffing mechanism (hereinafter referred to as " yawing/luffing mechanism ") 32, yawing driving portion 34 and pitching driving portion 36 etc..Yawing/luffing mechanism 32 has detection yawing side To rotation angle (yawing angle) base position original position sensor and detect pitch orientation inclination angle (pitch angle) benchmark The original position sensor of position.
Yawing driving portion 34 and pitching driving portion 36 are respectively provided with stepper motor and motor driver, and to yawing/pitching 32 output driving power of mechanism and drive yawing/luffing mechanism 32.
Image pickup part 11 shoots the wide angle picture and focal length figure of timing via photographic optical system 12 and directive property sensor 17 Picture, via photographic optical system 12 directive property sensor 17 (imaging sensor 18) each light receiving unit (photo-electric conversion element) Light-receiving surface on the shot object image that is imaged be converted into the signal voltage (or charge) of the amount according to its incident light quantity.
The signal voltage (or charge) put aside in imaging sensor 18 is put aside in light receiving unit itself or the electricity set up Container.Using the MOS type image-forming component using X-Y address mode, (so-called CMOS is passed the signal voltage (or charge) put aside Sensor) method, read together with the selection of light receiving unit position.
Thereby, it is possible to the group for indicating central light receiving unit corresponding with central optical system 13 is read from imaging sensor 18 Wide angle picture picture element signal and indicate it is corresponding with doughnut-like optical system 14 around 8 light receiving units group focal length image Picture element signal.In addition, the picture element signal of expression wide angle picture and focal length image is with defined frame rate (for example, every 1 second frame Number is 24p, 30p or 60p) it is read out consecutively from imaging sensor 18.
The picture element signal (voltage signal) read from imaging sensor 18 is handled by correlated-double-sampling (in order to mitigate sensing Noise (especially thermal noise) for including in device output signal etc. includes in the output signal by obtaining each light receiving unit Feedthrough ingredient level and signal component level difference and obtain the processing of accurate pixel data), the picture of each light receiving unit Plain signal is kept by sampling, and A/D converter 20 is added to after being amplified.The picture element signal that A/D converter 20 will be sequentially input It is converted into digital signal and exports to image acquiring section 22.In addition, there is the sensing for being built-in with A/D converter in MOS type sensor Device, at this point, from the direct output digit signals of imaging sensor 18.
Picture element signal is read by selecting the light receiving unit position of imaging sensor 18, image acquiring section 22 can be simultaneously Or selectively obtain the picture element signal for indicating wide angle picture and the picture element signal for indicating focal length image.
That is, passing through the pixel for selectively reading out the incident light receiving unit for having central pupil image 17a in imaging sensor 18 Signal can obtain the wide-angle figure for indicating 1 light receiving unit (the central light receiving unit of 3 × 3 light receiving unit) of every 1 lenticule The picture element signal (picture element signal for indicating the mosaic image of bayer arrangement) of picture, on the other hand, by selectively reading out figure There is annular pupil as the picture element signal of the light receiving unit of 17b as incident in sensor 18, can obtain indicates the 8 of every 1 lenticule The picture element signal of the focal length image of a light receiving unit (surrounding's light receiving unit of 3 × 3 light receiving unit).
In addition, all pixels signal can be read from imaging sensor 18 and be temporarily stored in buffer storage, by being stored in The picture element signal of buffer storage carries out the grouping of the picture element signal of this 2 images of wide angle picture Yu focal length image.
It indicates to be output to respectively by the picture element signal of wide angle picture acquired by image acquiring section 22 and focal length image Digital signal processing section 40 and object detection portion 50.
The digital pixel signal (R signal of the dot sequency of RGB, G-signal, B signal) of 40 pairs of digital signal processing section inputs Carry out migration processing, gamma correction processing and for believing as defined in demosaicing processing of signal of mosaic image of RGB etc. Number processing.Here, demosaicing processing refers to from the Marseille for arranging corresponding RGB with the colour filter of one-board imaging sensor 18 The processing of all colours information, also referred to as synchronization process are calculated in gram image by each pixel.For example, when for by the filter of tri- color of RGB When the imaging sensor 18 that color device is constituted, refer to that calculating RGB by each pixel from the mosaic image being made of RGB owns The processing of colouring information.
That is, due to there is no R light receiving unit on the position of the G light receiving unit of wide angle picture (mosaic image of bayer arrangement) And B light receiving unit, therefore demosaicing processing unit included in digital signal processing section 40 respectively to its G light receiving unit around R light receiving unit, the R signal of B light receiving unit, B signal carry out interpolation and generate the R signal of the position of G light receiving unit, B signal. Similarly, there is no G light receiving unit, B light receiving unit on the position of the R light receiving unit of mosaic image, therefore respectively to its R light The G that the G-signal of G light receiving unit, B light receiving unit around unit, B signal carry out interpolation and generate the position of R light receiving unit believes Number, B signal, also, there is no G light receiving unit, R light receiving unit on the position of the B light receiving unit of mosaic image, therefore right respectively The G-signal of G light receiving unit, R light receiving unit around its B light receiving unit, R signal carry out interpolation and generate the position of B light receiving unit G-signal, the R signal set.
On the other hand, as shown in part (c2) of Fig. 4, focal length image by every 1 lenticule 16a 8 (3 × 3 units chunks Around 8) mosaic image constitutes, and includes all colours information (the R light receiving unit, G light of RGB in 8 light receiving units Unit, B light receiving unit), therefore demosaicing processing unit can be generated using the output signal of 8 light receiving units in units chunk 1 pixel (pixel value of RGB) of the composition image of demosaicing processing has been carried out by each units chunk.
Specifically, carrying out the demosaicing processing unit of demosaicing processing to the mosaic image of focal length image, pass through The average value of the pixel value of 4 G light receiving units in units chunk is found out, to calculate the centre bit of units chunk (1 lenticule) The pixel value of the G for the pixel set, similarly, the average value and 2 of the pixel value by finding out 2 R light receiving units in units chunk The average value of the pixel value of a B light receiving unit, to calculate the pixel value and B of the R of the pixel of the center of units chunk respectively Pixel value.
Due to carrying out demosaicing processing using the output signal of 8 light receiving units in units chunk, by above-mentioned The demosaicing for the focal length image in wide angle picture and focal length image this 2 demosaicing images that demosaicing processing unit generates Image is actually higher than as its resolution ratio and carries out horse using the output signal of the light receiving unit of the units chunk around (interpolation) The demosaicing image of the resolution ratio of the demosaicing image of the wide angle picture of Sai Ke processing.
Also, digital signal processing section 40 carries out having carried out the RGB that demosaicing is handled from by demosaicing processing unit Colouring information (R signal, G-signal, B signal) generate the RGB/YC of luminance signal Y and colour difference signal Cb, Cr and convert etc., and give birth to At frame rate as defined in indicating wide angle picture and focal length image dynamic image record with and the image that shows of dynamic image Signal.
It is defeated respectively by the picture signal of expression wide angle picture and focal length image handled by digital signal processing section 40 Out to record portion 42 and display unit 44.The expression wide angle picture and focal length that record portion 42 will be handled by digital signal processing section 40 The recording picture signal record of the dynamic image of image is in recording medium (hard disk, storage card etc.).In addition, record portion 42 can also Only to record focal length image.
Display unit 44 passes through the Dynamic Graph of expression wide angle picture and focal length image as handled by digital signal processing section 40 As the picture signal of display, wide angle picture and focal length image are shown.In addition, display unit 44 can also be according to being recorded in record portion 42 picture signal resets wide angle picture and focal length image.
On the other hand, object detection portion 50 is according to indicating wide angle picture and focal length image acquired by image acquiring section 22 The location information of the object that picture element signal carrys out the object of detecting and tracking object, and will test in the picture is exported to yawing/bow Control unit 60 is faced upward, therefore there is the 1st object detection portion 52 and the 2nd object detection portion 54, the 1st object detection portion 52 is according to length Burnt image detection object, and location information of the detection object in focal length image, the 2nd object detection portion 54 is according to wide-angle figure Picture detection object, and location information of the detection object in wide angle picture.
The detection method of object as the 1st object detection portion 52 and the 2nd object detection portion 54, favorably to carry out personage Face recognition technology be representative object recognition technique detect certain objects method, or using moving object as track pair The object of elephant and the Mobile object detection method detected.
Object detecting method based on object identification be using the feature of the viewing mode of certain objects as object dictionary into Behaviour first logs in, and on one side by according to truncated picture while captured image modification position and size and object dictionary into The method that row identifies object more on one side.
Part (a) of Fig. 6 and (b) of Fig. 6 partially respectively indicate an example of captured wide angle picture and focal length image Figure.In addition, the region being represented by dotted lines in wide angle picture indicates the image pickup scope of focal length image.
Here, wide angle picture and focal length image represented by part (a) of shooting figure 6 and part (b) of Fig. 6 and by personage Face as tracking object, and when using the face of object (face) identification technology detection personage, the 2nd object detection portion 54 can To detect face, but the 1st object detection portion 52 can not detect face.Because only a part of the face of personage enters focal length figure As in, so face can not be identified.
Therefore, at this point, position by face's (object) of personage detected by the 2nd object detection portion 54 in wide angle picture Confidence breath is exported to yawing/pitch control portion 60.
On the other hand, the 1st object detection portion 52 according to focal length image detection to object when, the 1st object detection portion 52 is examined Location information of the object measured in focal length image, the object detected prior to the 2nd object detection portion 54 is in wide angle picture In location information export to yawing/pitch control portion 60.Because the position detection accuracy of the object in the 1st object detection portion 52 is high In the position detection accuracy of the object in the 2nd object detection portion 54.
Also, in this example, it is provided with the mode selection part 56 of the 1st tracing mode of selection or the 2nd tracing mode.1st tracking Mode is only to export location information of the object detected by the 2nd object detection portion 54 in wide angle picture to yawing/bow Control unit 60 is faced upward, and according to the mode of location information control yawing/elevation mount 30 in wide angle picture.On the other hand, the 2nd with Track mode is while using the 1st object detection portion 52 and the 2nd object detection portion 54, when the 1st object detection portion 52 detects object When, preferentially location information of the object in focal length image is exported to yawing/pitch control portion 60, and according in focal length image Location information control yawing/elevation mount 30 will pass through the 2nd object detection when object is not detected in the 1st object detection portion 52 Location information of the object that portion 54 detects in wide angle picture is exported to yawing/pitch control portion 60, and according to wide angle picture In location information control yawing/elevation mount 30 mode.
Yawing/pitch control portion 60 be as described above according to from object detection portion 50 input image in (in wide angle picture Or in focal length image) object location information control yawing/elevation mount 30 part, and via yawing driving portion 34 and Pitching driving portion 36 controls yawing/luffing mechanism 32 (namely based on the photography direction of image pickup part 11), so that object is in the picture Location information (for example, tracking object is in the case where face be face area position of centre of gravity) to the center (light of image Position on axis) it is mobile.
By the control of above-mentioned yawing/luffing mechanism 32, object can be automatically tracked and shot, so that tracking object Object (for example, face of personage) reach the center of wide angle picture and focal length image.Fig. 7 is indicated with certain objects (people The face of object) reach focal length image center mode carry out tracing control state focal length image.In addition, in this example, with The case where mode at the center that the position (position of centre of gravity) of object in the picture reaches focal length image carries out tracing control carries out Illustrate, but not limited to this, can control yawing/luffing mechanism 32, so that the position (position of centre of gravity) of object in the picture At least into the visual angle of focal length image, (preferably a certain range of the immediate vicinity of focal length image is (for example, focus detection area It is interior)).
Then, the object detecting method as the 1st object detection portion 52 and the 2nd object detection portion 54, to by moving object As tracking object object and an example of Mobile object detection method for being detected be illustrated.
At this point, 2 focal length images for having found out timing are detected in the 1st object detection portion 52 as shown in (a)~(c) of Fig. 8 (((a) of Fig. 8 partially difference with current acquired focal length image (part (b) of Fig. 8) of focal length image acquired by the last time The difference image (part (c) of Fig. 8) divided.
In example shown in part (a) of Fig. 8 and part (b) of Fig. 8, the object A in object A, B is mobile, and object B stops.
Therefore, as shown in part (c) of Fig. 8, difference image A1, A2For the image generated by the movement of object A.
Here, calculating difference image A1, A2Position of centre of gravity, and be set to position P1, P2, these positions P will be linked1, P2The midpoint of line segment be set as position G.Also, position G is set as position of the moving object (object A) in focal length image.
With the position G of the object A in such calculated focal length image to the center (position on optical axis of focal length image Set) mobile mode repetitive control yawing/luffing mechanism 32 (namely based on the photography direction of image pickup part 11), as a result, object A to The center of focal length image is mobile (focusing).
In addition, also ground identical as the 1st object detection portion 52 can be according to wide angle picture detecting and tracking in the 2nd object detection portion 54 The object (moving object) of object, and position of the detection object in wide angle picture.Also, image pickup part 11 it is mobile (by yawing/ Luffing mechanism 32 is mobile, or is moved by carrying automatic tracking camera device 10) when, the background between the image of timing is also moved It is dynamic, but the mobile image in such a way that the background between the image of timing is consistent at this time, and find out the difference diagram between the image after movement Picture, thus, it is possible to the movements with image pickup part 11 independently to detect the object moved in real space.Moreover, moving object segmentation Method is not limited to the above embodiment.
<automatic tracking control method>
Fig. 9 is an example for indicating the automatic tracking control method based on automatic tracking camera device according to the present invention Flow chart, and indicate the case where 1 tracing mode has been selected by mode selection part 56.
In Fig. 9, the 2nd object detection portion 54 obtains wide angle picture (step S10) from image acquiring section 22, and according to acquired Wide angle picture detecting and tracking object object (step S12).
Then, the 2nd object detection portion 54 calculates location information (step S14) of the object detected in wide angle picture.
Then, yawing/pitch control portion 60 believes from position of the 2nd object detection portion 54 input object in wide angle picture Breath, and yawing/elevation mount 30 is controlled according to the location information inputted, so that object reaches the center (step of wide angle picture S16)。
Next, it is determined that automatically tracking whether camera shooting finishes (step S18), it is not over if being judged as, is transferred to step Rapid S10.The processing from above-mentioned steps S10 to step S18 is repeated as a result, carries out the shooting for automatically tracking object.Another party Face finishes to automatically track camera shooting if being judged as, terminates to automatically track camera shooting.In addition, about automatically tracking whether camera shooting ties The judgement of beam can be carried out by unlatching/closing of power supply, can also be by indicating whether to carry out automatically tracking opening for camera shooting Input etc. is closed to carry out.
Figure 10 is indicate the automatic tracking control method based on automatic tracking camera device according to the present invention another The flow chart of example, and indicate the case where 2 tracing mode has been selected by mode selection part 56.
In Figure 10, focal length image (step S20) is obtained by image acquiring section 22, the 1st object detection portion 52 is from acquired The object (step S22) of focal length image detection tracking object.
Then, the 1st object detection portion 52 judges whether to detect object (step S24) in step S22.Detect object The case where (the case where "Yes") under, the 1st object detection portion 52 calculates the location information (step of the object that detects in focal length image Rapid S26).
On the other hand, under the case where object is not detected (conjunction of the case where "No" field boundary), it is transferred to step S28, by the 2nd object Test section 54 is carried out from step S28 to the processing of step S32.Here, being and institute in Fig. 9 from step S28 to the processing of step S32 Show slave step S10 to the identical processing of the processing of step S14.That is, the 2nd object detection portion 54 obtains extensively from image acquiring section 22 Angle image (step S28), and according to the object (step S30) of acquired wide angle picture detecting and tracking object, and calculate inspection Location information (step S32) of the object measured in wide angle picture.
Then, believe the position for the object in focal length image that yawing/input of pitch control portion 60 is detected by step S26 The location information of breath or the object in the wide angle picture detected by step S32, and controlled according to the location information inputted Yawing/elevation mount 30, so that object reaches the center in focal length image or reaches the center (step in wide angle picture Rapid S34).In addition, the control for yawing/elevation mount 30 that yawing/pitch control portion 60 carries out is in the 1st object detection portion 52 that passes through In the case where from focal length image detection to object, preferential progress carries out flat according to the location information of the object in focal length image / the control of elevation mount 30 is shaken, this is self-evident.
Next, it is determined that automatically tracking whether camera shooting terminates (step S36), it is not over if being judged as, is transferred to step S20.The processing from above-mentioned steps S20 to step S36 is repeated as a result, carries out the shooting for automatically tracking object.Another party Face finishes to automatically track camera shooting if being judged as, terminates to automatically track camera shooting.
<another embodiment of directive property sensor>
Figure 11 is the side view for indicating another embodiment of directive property sensor.
The directive property sensor 117 is sent out by the microlens array 118 as pupil cutting component and as shadow mask A part of the light-blocking member 120 and light receiving unit 116a, 116b of waving effect is by light-blocking member 120 by the image of shading Sensor 116 is constituted.In addition, alternately (tartan flag shape) is set on the left and right directions of imaging sensor 116 and up and down direction It sets through 120 a part of light-blocking member by the light receiving unit 116a and light receiving unit 116b of shading.
Microlens array 118 has the lenticule corresponded with light receiving unit 116a, 116b of imaging sensor 116 118a。
Light-blocking member 120 limits the opening of light receiving unit 116a, 116b of imaging sensor 116, and has and institute in Fig. 2 The central optical system 13 and the corresponding opening shape of doughnut-like optical system 14 for the photographic optical system 12 shown.In addition, lenticule The colour filter of red (R), green (G), blue (B) are equipped below each lens of array 118.
The peripheral portion of the opening of light receiving unit 116a is by the light shielding part 120a shading of light-blocking member 120, on the other hand, light The open center portion of unit 116b is by the light shielding part 120b shading of light-blocking member 120.As a result, through in photographic optical system 12 The light beam of centre optical system 13 is incident to after the light shielding part 120a pupil cutting of microlens array 118 and light-blocking member 120 Light receiving unit 116a, on the other hand, through photographic optical system 12 doughnut-like optical system 14 light beam by microlens array 118 And light receiving unit 116b is incident to after the light shielding part 120b pupil cutting of light-blocking member 120.
Thereby, it is possible to the picture element signal of wide angle picture, Neng Goucong are read from each light receiving unit 116a of imaging sensor 116 Each light receiving unit 116b of imaging sensor 116 reads the picture element signal of focal length image.
<another embodiment of image pickup part>
Then, another embodiment for the image pickup part for being suitable for automatic tracking camera device according to the present invention is carried out Explanation.
Figure 12 is the cross-sectional view for indicating to be suitable for another embodiment of the image pickup part of automatic tracking camera device 10.
The image pickup part is made of photographic optical system 112 and directive property sensor 17.In addition, directive property sensor 17 and figure Directive property sensor shown in 2 and Fig. 3 is identical, therefore is illustrated below to photographic optical system 112.
The photographic optical system 112 by the central optical system 113 of central portion that is respectively arranged on identical optical axis and its The doughnut-like optical system 114 of peripheral portion is constituted.
Central optical system 113 is the focal length optics being made of the 1st lens 113a, the 2nd lens 113b and common lens 115 System, and there is visual angle α.
Doughnut-like optical system 114 is the wide-angle optics being made of lens 114a and common lens 115, and has visual angle β (β > α), than the broader visual angle of central optical system 113.
The photographic optical system 112 is compared with photographic optical system 12 shown in Fig. 2, unused reflecting mirror, also, in On this point centre optical system 113 is long focus optical system, and doughnut-like optical system 114 is wide-angle optics is different.
[other]
In the automatic tracking camera device 10 of present embodiment, rotate image pickup part 11 to yawing direction and pitch orientation Yawing/luffing mechanism 32 is set to apparatus main body 2, and but not limited to this, and photographic device can also be integrally equipped on to electronic cloud Platform (yawing/elevation mount).In addition, automatic tracking camera device according to the present invention for example can as surveillance camera, Vehicle-mounted vidicon come using.
Also, the object of tracking object can by the wide angle picture shown by the display unit 44 using touch panel etc. by grasping Work person is initially set.
In the photographic optical system of present embodiment, the 2nd optical system for being set to the peripheral portion of the 1st optical system is set For doughnut-like optical system, but not limited to this, can also be by multiple optics for being disposed on the concentric circles centered on optical axis System is constituted.
Also, the reflecting mirror in the lens arrangement of the mirror-type of photographic optical system 12 shown in Fig. 2 does not limit In concave mirror or convex mirror, it is also possible to plane mirror, also, the piece number of reflecting mirror is also not limited to 2, also can be set 3 More than.
Moreover, focus adjustment section can make the common lens or imaging sensor of central optical system and doughnut-like optical system It is mobile to optical axis direction.
In addition, can be carried out without departing from the spirit of the invention within the scope the present invention is not limited to above embodiment Various modifications this be self-evident.
Symbol description
10- automatic tracking camera device, 11- image pickup part, 12,112- photographic optical system, 13,113- central optical system System, 14,114- doughnut-like optical system, 16,118- microlens array, 16a, 118a- lenticule, 17,117- directive property sensor, 18,116- imaging sensor, 18a, 116a, 116b- light receiving unit, 22- image acquiring section, 30- yawing/elevation mount, 32- are flat Shake/luffing mechanism, 42- record portion, 50- object detection portion, the 1st object detection portion 52-, the 2nd object detection portion 54-, 56- mode Selector, 60- yawing/pitch control portion, 120- light-blocking member.

Claims (10)

1. a kind of automatic tracking camera device, has:
Photographic optical system is made of the 1st optical system of central portion and the 2nd optical system, one in these optical systems For wide-angle optics, another is long focus optical system, and the 2nd optical system is set to the week of the 1st optical system Edge and have optical axis identical with the 1st optical system;
One directive property sensor has the multiple pixels being made of the photo-electric conversion element that two dimension shape arranges, and by lenticule Array and imaging sensor are constituted, and the microlens array is arranged in two dimension shape by multiple lenticules and is constituted, respectively to via The wide-angle optics and the light beam of the long focus optical system incidence carry out after pupil cutting selectively light;
Yawing/luffing mechanism makes the image pickup part comprising the photographic optical system and directive property sensor in the horizontal direction and hangs down Histogram is to rotation;
Image acquiring section is obtained respectively via the wide-angle optics and the wide angle picture of light from the directive property sensor And the focal length image of light via the long focus optical system;
Object detection portion comes according at least to wide angle picture acquired by described image acquisition unit and the wide angle picture in focal length image The object of detecting and tracking object;And
Yawing/pitch control portion is controlled according to the location information of the object detected by the object detection portion in the picture Yawing/the luffing mechanism,
1st optical system of the photographic optical system be circular central optical system, the 2nd optical system be relative to The central optical system is in the doughnut-like optical system that concentric circles are arranged,
1st optical system is wide-angle optics, and the 2nd optical system is long focus optical system, and central pupil image is only The light receiving unit in the center of units chunk is imaged in, annular pupil picture images in the light receiving unit around units chunk, wherein by 1 Lenticule and light receiving unit group corresponding with 1 lenticule are known as units chunk.
2. automatic tracking camera device according to claim 1, has:
Record portion, at least the focal length image in wide angle picture and focal length image acquired by record described image acquisition unit.
3. automatic tracking camera device according to claim 1, wherein
The wide-angle in wide angle picture and focal length image that the object detection portion is continuously obtained according at least to described image acquisition unit Image detects moving object, and using the detected moving object as the object of tracking object.
4. automatic tracking camera device according to claim 1, wherein
Wide-angle figure of the object detection portion according at least to wide angle picture acquired by described image acquisition unit and in focal length image As identifying certain objects, and using the certain objects recognized as the object of tracking object.
5. automatic tracking camera device according to claim 1, wherein
It is controlled according to the object detected by the object detection portion location information in the picture in the yawing/pitch control portion Yawing/the luffing mechanism is made, so that the detected object at least enters the visual angle of the focal length image.
6. automatic tracking camera device according to claim 1, wherein
The object detection portion has the 1st object detection portion and the 2nd object detection portion, and the 1st object detection portion is according to Object described in focal length image detection acquired by image acquiring section, the 2nd object detection portion is according to described image acquisition unit institute The wide angle picture of acquirement detects the object,
Position letter of the object that the yawing/pitch control portion is detected according to the 1st object detection portion in focal length image Breath is to control the yawing/luffing mechanism, when the 1st object detection portion fails to detect the object, according to by the described 2nd Location information of the object that object detection portion detects in wide angle picture controls the yawing/luffing mechanism.
7. automatic tracking camera device according to claim 6, has:
Mode selection part selects the 1st tracing mode or the 2nd tracing mode,
If selecting the 1st tracing mode by the mode selection part, the yawing/pitch control portion is according only to by the described 2nd Location information of the object that object detection portion detects in wide angle picture controls the yawing/luffing mechanism, if pass through institute It states mode selection part and selects the 2nd tracing mode, then the yawing/pitch control portion is detected according to by the 1st object detection portion To location information of the object in focal length image control the yawing/luffing mechanism, the 1st object detection portion fails to examine When measuring the object, controlled according to location information of the object detected by the 2nd object detection portion in wide angle picture Make the yawing/luffing mechanism.
8. automatic tracking camera device according to claim 1, wherein
The doughnut-like optical system has the reflective optics for making light beam reflection 2 times or more.
9. automatic tracking camera device according to claim 1, includes
Focus adjustment section is adjusted the focus of the long focus optical system.
10. automatic tracking camera device according to any one of claim 1 to 9, wherein
The directive property sensor has the shadow mask to play a role as pupil cutting component.
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